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feat:ftc2024-autonome.java update autonomous mode 2

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GZod01 2024-02-04 14:54:03 +01:00
parent d236f152c0
commit c231b871bb
1 changed files with 15 additions and 8 deletions
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23
ftc2024-autonome.java
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@ -61,17 +61,24 @@ public class ftc2024_autonome extends LinearOpMode {
}
else {
double[][] operations = {
{3.0,-1.0,1.0}, // operation 1: 3 sec , lm=-1 , rm = 1
{5.0,1.0,1.0},
{2.0,-1.0,1.0},
{3.0,-1.0,-1.0},
{10.0,1.0,-1.0}
{-1.0,1.0}, // vectors
{1.0,1.0},
{-1.0,1.0},
{-1.0,-1.0},
{1.0,-1.0}
};
//mode Aurelien
for(int i = 0; i<operations.length; i++){
double time = operations[i][0];
double lmvalue = operations[i][1];
double rmvalue = operations[i][2];
double vec = operations[i];
double x = vec[0];
double y = vec[1];
double total_dist = (double) math.sqrt(Math.pow(y,2)+Math.pow(x,2));
double time = time_for_dist(speed, time);
double a = (-y+x)/Math.pow(2,1/2);
double b = (-y-x)/Math.pow(2,1/2);
double vmean = (Math.abs(a)+Math.abs(b))/2;
lmvalue = (a/vmean);
rmvalue = (b/vmean);
runtime.reset();
while (opModeIsActive() && (runtime.seconds() <= time)) {
lm.setPower(lmvalue);